WO2009123134A1 - Système de commande d’entraînement rotatif pour machine de construction - Google Patents

Système de commande d’entraînement rotatif pour machine de construction Download PDF

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Publication number
WO2009123134A1
WO2009123134A1 PCT/JP2009/056528 JP2009056528W WO2009123134A1 WO 2009123134 A1 WO2009123134 A1 WO 2009123134A1 JP 2009056528 W JP2009056528 W JP 2009056528W WO 2009123134 A1 WO2009123134 A1 WO 2009123134A1
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WIPO (PCT)
Prior art keywords
pressure
pump
relief
swing
hydraulic
Prior art date
Application number
PCT/JP2009/056528
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English (en)
Japanese (ja)
Inventor
照夫 秋山
寿士 浅田
仁 北嶋
和弘 丸田
健 大井
将志 市原
Original Assignee
株式会社小松製作所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 株式会社小松製作所 filed Critical 株式会社小松製作所
Priority to DE112009000713.9T priority Critical patent/DE112009000713B4/de
Priority to US12/935,641 priority patent/US9022749B2/en
Priority to KR1020107022080A priority patent/KR101189632B1/ko
Priority to CN200980111681.6A priority patent/CN101981325B/zh
Priority to JP2010505908A priority patent/JP5130353B2/ja
Publication of WO2009123134A1 publication Critical patent/WO2009123134A1/fr

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
    • E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
    • E02F9/12—Slewing or traversing gears
    • E02F9/121—Turntables, i.e. structure rotatable about 360°
    • E02F9/123—Drives or control devices specially adapted therefor
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2285—Pilot-operated systems
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F15B11/05—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed specially adapted to maintain constant speed, e.g. pressure-compensated, load-responsive
    • F15B11/055—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed specially adapted to maintain constant speed, e.g. pressure-compensated, load-responsive by adjusting the pump output or bypass
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20546—Type of pump variable capacity
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/26—Power control functions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/3052—Shuttle valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/31—Directional control characterised by the positions of the valve element
    • F15B2211/3105—Neutral or centre positions
    • F15B2211/3116—Neutral or centre positions the pump port being open in the centre position, e.g. so-called open centre
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/315—Directional control characterised by the connections of the valve or valves in the circuit
    • F15B2211/3157—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source, an output member and a return line
    • F15B2211/31576—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source, an output member and a return line having a single pressure source and a single output member
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/329—Directional control characterised by the type of actuation actuated by fluid pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/505—Pressure control characterised by the type of pressure control means
    • F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
    • F15B2211/50518—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using pressure relief valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6309—Electronic controllers using input signals representing a pressure the pressure being a pressure source supply pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6316—Electronic controllers using input signals representing a pressure the pressure being a pilot pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6333—Electronic controllers using input signals representing a state of the pressure source, e.g. swash plate angle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6346—Electronic controllers using input signals representing a state of input means, e.g. joystick position
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7058—Rotary output members

Definitions

  • the present invention relates to a swing drive control system for a construction machine that can control a relief flow rate that is discharged without being used to drive the swing hydraulic motor in a swing hydraulic motor that rotationally drives an upper swing body of a construction machine.
  • an upper swing body is pivotably attached to a lower vehicle body provided with a traveling body, and a work machine including a boom, an arm, a bucket, and the like is attached to the upper swing body. It is swingably mounted.
  • the lower traveling body is driven by a traveling hydraulic motor, and the upper swing body is swung by a swing hydraulic motor.
  • the boom, arm, bucket, and the like are swung by a boom cylinder, an arm cylinder, a bucket cylinder, and the like, respectively.
  • pressure oil discharged from a variable displacement hydraulic pump driven by the engine is supplied and discharged by control valves provided corresponding to the actuators. ing.
  • the pump displacement of the variable displacement hydraulic pump is controlled according to the load pressure in the hydraulic actuator, the pump discharge pressure, and the position of the control valve.
  • the pump capacity of the hydraulic pump is controlled according to the load sensing differential pressure between the load pressure in the hydraulic actuator and the discharge pressure of the hydraulic pump, and the pump absorption torque of the hydraulic pump (pump capacity of the hydraulic pump ⁇ hydraulic pump).
  • the pump capacity of the hydraulic pump is controlled so that the pump discharge pressure is below a certain level.
  • control is performed to increase the pump capacity of the hydraulic pump, and the hydraulic actuator requires a large amount of pump discharge flow. Otherwise, when the control valve is returned to the neutral position (the position where hydraulic oil is not supplied to the cylinder), the variable displacement hydraulic pump is controlled so that the pump capacity is reduced.
  • the pump capacity is controlled so that the flow rate required by the hydraulic actuator can be discharged.
  • the target pump capacity of the hydraulic pump determined by the correspondence between the target pump absorption torque of the hydraulic pump and the pump discharge pressure of the hydraulic pump, or the upper swing body is driven It can be set using the target pump capacity of the hydraulic pump determined by the operation amount of the operation lever for operating the swing hydraulic motor.
  • a constant is required between the right side and the left side, but this constant is omitted in the relational expression described above.
  • the target pump capacity corresponding to the current pump discharge pressure P can be determined according to the target pump absorption torque T.
  • the target pump absorption torque is set corresponding to the engine speed at each time point.
  • the target pump capacity corresponding to the detected operation amount of the operating lever can be obtained by setting the target pump capacity corresponding to the operating amount of the operating lever operating the swing hydraulic motor in advance through experiments or the like. You can ask for it. Then, the swash plate angle of the hydraulic pump can be controlled so that the pump displacement of the hydraulic pump becomes the target pump displacement according to the detected operation amount of the operation lever.
  • the target pump absorption torque of the hydraulic pump is controlled to be small when the pump discharge pressure is high, and the pump capacity is large when the pump discharge pressure is low.
  • the target pump absorption torque of the hydraulic pump is set according to the engine output state (full output, partial output).
  • the control valve for the swing hydraulic motor (hereinafter referred to as the swing hydraulic motor).
  • the control valve for the hydraulic motor is referred to as a swing control valve), and the hydraulic oil discharged from the hydraulic pump is sent to the swing hydraulic motor. Then, the upper swing body of the hydraulic excavator can be swung by driving the swing hydraulic motor.
  • the load sensing differential pressure acting on the load sensing valve that controls the pump capacity of the hydraulic pump (the differential pressure between the pump discharge pressure and the load pressure of the swing hydraulic motor) )
  • the pump capacity of the hydraulic pump is controlled to be the pump capacity corresponding to the load sensing differential pressure. That is, when the swing control valve is switched, the hydraulic pump is immediately controlled (usually between about 0.2 to 0.3 sec) so that the pump capacity increases.
  • a similar action is not limited to the hydraulic circuit of the load sensing system described above, but also in the hydraulic circuit of the open center system.
  • the upper swing body is stopped and the steady swing speed (the total amount of pump discharge indicated by the swing control valve for the swing hydraulic motor is It takes time to accelerate to the state of flowing to the hydraulic motor.
  • a rise time for rising from the stopped state to the steady turning speed a time of about 2 to 3 seconds is usually required.
  • a part of the pressure oil discharged from the hydraulic pump is not used for driving the swing hydraulic motor until the upper swing body rises to the steady swing speed, and the surplus flow rate during acceleration of the upper swing body is accelerated. Thus, it is discharged from the swing relief valve and discarded. If the pressure oil discharged from the hydraulic pump is discharged wastefully in this way, it will cause adverse effects such as deterioration in engine fuel consumption, increase in hydraulic oil temperature, and increase in relief noise.
  • Patent Literature 1 As a device for controlling the relief flow rate, a hydrostatic drive device having a pressure control device (see Patent Literature 1), a hydraulic circuit for construction machinery (see Patent Literature 2), and a hydraulic control device for a hydraulic working machine (Patent Literature). 3) is proposed.
  • Patent Document 1 What is described in Patent Document 1 is a load sensing hydraulic circuit in which a swivel control valve (described as a parallel throttle position in Patent Document 1) rotates on the side opposite to the spool drive side in the spring box. The acceleration pressure is applied. The relief flow rate is reduced by returning the spool of the swing control valve to a position where the swing acceleration pressure and the spring force are balanced.
  • Patent Document 2 describes a configuration in which the pump displacement of a variable displacement hydraulic pump is controlled by a regulator in an open center type hydraulic circuit.
  • the regulator is controlled by the high-pressure side pressure among the remaining discharge pressure used by the actuator among the discharge pressure from the hydraulic pump and the pilot pressure output from the proportional solenoid valve controlled by the controller. It has a configuration. Further, the controller is configured to output a command signal for controlling the proportional solenoid valve in accordance with a detection value obtained by detecting the pump discharge pressure discharged from the variable displacement hydraulic pump.
  • the controller When the controller detects that the swing control valve (described as a switching control valve in Patent Document 2) is operated, the controller controls the proportional solenoid valve according to the detected pump discharge pressure. It is configured to output a pilot pressure that reduces the pump capacity of the variable displacement hydraulic pump.
  • Patent Document 3 discloses a hydraulic control device for a hydraulic working machine that can cut off the discharge flow rate of a variable displacement hydraulic pump that supplies pressure oil that drives an actuator, and a relief valve for a swing motor Is configured as a variable swivel relief valve.
  • control is performed to reduce the absorption torque of the variable displacement hydraulic pump, and when reducing the absorption torque of the variable displacement hydraulic pump, the variable slewing relief valve Control is performed to increase the relief pressure by a predetermined pressure.
  • JP 57-116966 A JP 2003-294003 A Japanese Patent Laid-Open No. 2001-50202
  • the turning acceleration pressure is fed back as the pressure for driving the spool in the turning control valve. For this reason, the turning acceleration pressure becomes unstable and causes hunting.
  • Patent Document 2 does not disclose any load sensing system. Further, when a variable displacement hydraulic pump is used, it is indispensable to have torque limit control co-existing, but disclosure of this is not described.
  • Patent Documents 1 and 2 when the rotation of the upper swing body rises, as a function of the swing relief valve, the relief flow rate is kept as small as possible, and the pump discharge pressure applied to the swing hydraulic motor is set to the maximum pressure. There is no disclosure or suggestion regarding the configuration so that it can be maintained in a state.
  • the hydraulic pump is designed to reduce the relief flow rate. Is controlled, the pump discharge pressure supplied to the swing hydraulic motor is lowered, and the swing torque for driving the upper swing body is decreased.
  • the acceleration performance for accelerating the upper turning body is deteriorated. In such a situation, by turning the upper swing body, there occurs a problem that the lateral application force when the work implement is applied laterally to the object is reduced.
  • Patent Document 3 discloses that the reduction of the operating force of the swing motor is suppressed by increasing the relief pressure of the variable swing relief valve by a predetermined pressure when the relief flow rate is decreased.
  • the absorption torque of the variable displacement hydraulic pump is decreased and the relief pressure of the variable swing relief valve is increased at the same timing. For this reason, a change in the discharge flow rate of the variable displacement hydraulic pump and a change in the override characteristics of the variable type swing relief valve occur at the same time, resulting in a change in the flow rate flowing to the swing motor. This will cause problems.
  • a swing drive control system for a construction machine that can control a relief flow rate that is not used by a swing hydraulic motor according to a driving situation of an upper swing body that is not configured in a conventional hydraulic device, and can be discharged. There is to do. Moreover, it can be suitably applied to an electronic pump that can directly specify the pump capacity of a variable displacement hydraulic pump by an electrical command or a torque limited hydraulic pump, and has an override characteristic (input pressure to a relief valve).
  • a variable displacement hydraulic pump that is driven by an engine and supplies pressure oil to a hydraulic actuator, and pressure detection means that detects a pump discharge pressure from the hydraulic pump;
  • a control valve for controlling supply / discharge of pressure oil discharged from the hydraulic pump to the hydraulic actuator, a controller for controlling the capacity of the hydraulic pump,
  • a hydraulic motor configured as one of the hydraulic actuators and configured to rotationally drive an upper swing body of a construction machine, a swing relief valve defining a relief pressure of the hydraulic motor, and a hydraulic motor configured as one of the control valves
  • An operation lever for switching the control valve, and a swing drive control system for a construction machine
  • the controller includes a correcting unit that reduces the pump capacity according to the pump discharge pressure when the pump discharge pressure detected by the pressure detection unit exceeds a first set value during operation of the operation lever. Release means for releasing correction by the correction means when the pump discharge pressure detected by the pressure
  • the swing drive control system for a construction machine further comprises lever operation amount detection means for detecting an operation amount of the operation lever, wherein the swing relief valve includes a first relief pressure and the first relief pressure.
  • a two-stage swing relief valve capable of setting a higher second relief pressure, further comprising an electromagnetic switching means for switching the set pressure of the two-stage swing relief valve,
  • the controller is configured to determine, based on the lever operation amount detected by the lever operation amount detection means and the pressure detection means, and the pump discharge pressure, that the upper swing body is accelerating; During acceleration, when the pump discharge pressure detected by the pressure detection means exceeds a third set value, the set pressure of the two-stage swing relief valve is changed from the first relief pressure to the second relief pressure.
  • the swing relief switches the relief pressure of the two-stage swing relief valve from the second relief pressure to the first relief pressure.
  • a pressure switching means The third set value is set to a value smaller than the first set value, the fourth set value is set to a value equal to or less than the second set value, and the electromagnetic switching means.
  • the correction unit of the controller performs control to reduce the pump capacity according to the pump discharge pressure detected by the pressure detection unit.
  • the main feature of the controller is that when the control valve other than the hydraulic motor control valve is switched, the controller cancels the correction by the correction means.
  • the controller determines that the operating lever for switching the hydraulic motor control valve has returned to the neutral direction during operation.
  • the lever return determination means determines that the operation lever for switching the hydraulic motor control valve is returned to the neutral direction during operation
  • the turning relief pressure switching means is set to the second relief pressure.
  • the main feature is that the set pressure of the two-stage swing relief valve that has been set is switched to the first relief pressure.
  • the controller determines that the operation lever for switching the hydraulic motor control valve has been operated in the opposite direction beyond the neutral position during the operation.
  • Lever turn-back judging means for When the lever switching determination unit determines that the operation lever for switching the hydraulic motor control valve is operated beyond the neutral position during the operation, the turning relief pressure switching unit is configured to perform the second relief pressure switching operation.
  • the main feature is that the set pressure of the two-stage swing relief valve set to the pressure is switched to the first relief pressure.
  • the controller when the correction unit of the controller performs control to reduce the pump capacity according to the pump discharge pressure detected by the pressure detection unit, When a control valve other than the hydraulic motor control valve is switched, the controller mainly cancels the switching from the first relief pressure to the second relief pressure by the turning relief pressure switching means.
  • the correction means determines whether an elapsed time from when the pump discharge pressure exceeds the first set value is within a predetermined time or later.
  • An elapsed time determination means for determining the response, and a response characteristic setting means for setting a response characteristic of the pump capacity with respect to the pump discharge pressure The response characteristic setting means sets the response characteristic in the pump capacity decreasing direction to the change in the pump discharge pressure after the fixed time has elapsed so as to be slower than before the fixed time has elapsed. It is said.
  • a hydraulic pump that is controlled to have a preset pump absorption torque based on a pump discharge pressure of the hydraulic pump, or an electronic pump that can directly specify a pump capacity by an electrical command It is possible to reduce wasteful consumption of the discharge flow rate discharged from. Moreover, with regard to operability when controlling the turning of the upper swing body, the operability substantially equivalent to the case where the control for reducing the discharge flow rate as in the present invention is not performed can be realized in the present invention.
  • the target pump capacity value for controlling the pump capacity of the hydraulic pump is set to the pump discharge pressure by the correcting means. Accordingly, it is possible to perform correction to decrease.
  • the flow rate discharged without being used for driving the swing hydraulic motor can be reduced without substantially changing the pump discharge flow rate for driving the swing hydraulic motor.
  • the correction that is performed by the correction means to decrease the value of the target pump capacity according to the pump discharge pressure is performed.
  • the pump discharge flow rate discharged from the hydraulic pump can be returned to the same pump discharge flow rate as that when correction is not performed. Examples of the state where the pump discharge pressure is lower than the second set value include a state where the upper swing body is accelerated to a steady swing speed state.
  • the correction when the pump pressure falls below the second set value, the correction is canceled, so that the swing hydraulic motor equivalent to the case where the correction is not performed without causing a shortage of the pump discharge flow rate or a decrease in the pump pressure. Can be performed.
  • the second set value for canceling the correction needs to be set to a pressure sufficiently higher than the pump pressure in the steady turning speed state.
  • the higher the second setting value for canceling the correction the easier the correction is canceled and the less effective.
  • the first set value for starting correction is configured to be equal to or less than the second set value, it becomes easy to start correction, and even if the second set value is set high, Since the time for performing the correction can be increased, the effect can be increased.
  • the pump capacity of the hydraulic pump can be finely controlled by the correcting means and the releasing means. That is, the pump capacity of the hydraulic pump can be controlled based on the target pump capacity until the pump discharge pressure exceeds the first set value while the swing speed of the upper swing body is accelerating, and the swing hydraulic motor Can be launched quickly.
  • the target pump capacity value can be corrected to be smaller by the correcting means.
  • the pump capacity of the hydraulic pump can be controlled to reduce the flow rate discharged without being used for driving the swing hydraulic motor.
  • the correction for decreasing the target pump capacity according to the pump discharge pressure is canceled, so that the total amount of the pump discharge flow discharged from the hydraulic pump is reduced as described above. It is used to drive a swing hydraulic motor and can maintain the same operability as before.
  • the pump capacity of the hydraulic pump can be controlled without substantially affecting the turning performance of the turning hydraulic motor for turning the upper turning body.
  • emitted without being utilized for the drive of a turning hydraulic motor can be reduced.
  • controlling the relief flow rate discharged from the swing relief valve without being used for driving the swing hydraulic motor according to the present invention is referred to as a swing cut-off.
  • correction is made to reduce the pump absorption torque value set based on the pump discharge pressure, and as a release means, the correction by the correction means is canceled and the pump discharge pressure is set. It can also be made to return to the pump absorption torque before correction set based on it.
  • the swing relief valve having poor override characteristics when used as a part of the hydraulic device of the upper swing body by being configured as in the invention described in claim 2, as the relief valve, a two-stage swing relief valve capable of setting a first relief pressure and a second relief pressure higher than the first relief pressure can be used.
  • the pump discharge pressure exceeds the third set value lower than the first set value during operation of the swing lever, the relief pressure of the two-stage swing relief valve is changed to the second relief pressure (high pressure side). Can be set.
  • the relief pressure of the two-stage swing relief valve can be set to the first relief pressure (low pressure side).
  • the pump discharge pressure is lower than the fourth set value, for example, the swing operation lever is returned to the neutral direction, the supply flow rate to the swing motor is reduced, and the brake pressure is applied to the swing motor.
  • the third set value is set to a value smaller than the first set value
  • the fourth set value is set to a value equal to or less than the second set value
  • the set value of the relief pressure of the two-stage swing relief valve is always the high pressure side (second relief pressure). . Therefore, since there is no switching between the first relief pressure and the second relief pressure, pressure fluctuation caused by switching the set value of the relief pressure can be prevented, and problems such as shocks due to changes in the turning speed Can be prevented.
  • the relief valve override characteristic is used as a term representing the relationship between the input pressure to the relief valve and the relief flow discharged through the relief valve.
  • the relief flow hardly flows up to the set relief pressure, and when the relief pressure exceeds the set relief pressure, the pressure at the relief valve inlet does not change no matter how much the relief flow is increased. Is ideal, and a relief valve having such characteristics is called a relief valve having good override characteristics.
  • those with poor override characteristics are those in which the pressure at the inlet of the relief valve rises when a certain relief pressure is exceeded.
  • the relief characteristic is poor when the relief pressure increases greatly as the relief flow rate increases after the discharge from the relief valve starts.
  • a relief valve with poor override characteristics has to be used due to a problem of sound when discharging a relief flow, a problem of response speed, a problem of absolute relief flow, or the like.
  • a swing relief valve with poor override characteristics must be used. If a swing cut-off is performed using a swing relief valve with poor override characteristics, when the pump discharge from the hydraulic pump decreases, the flow rate that flows to the swing relief valve also decreases, and the pressure on the inlet side of the swing relief valve Will also decrease. Therefore, by using a two-stage swing relief valve as in the present invention, the swing cutoff according to the present invention can be made to function more effectively.
  • the two-stage swing relief valve a relief valve whose relief pressure can be changed by electromagnetic switching means or the like can be used.
  • this correction when the above-described correction is performed as in the invention described in claim 3, this correction can be canceled when an operation other than the turning operation is performed. Thereby, it can prevent that the speed of an actuator falls.
  • the second relief pressure is changed from the first relief pressure to the second relief pressure.
  • the switch to the relief pressure is released.
  • the turning lever is returned to the neutral direction during the turning of the upper turning body, or the turning lever is turned beyond the neutral direction.
  • the swing relief pressure switching means of the two-stage swing relief valve is controlled to set the relief pressure to the first low pressure side. The relief pressure can be switched to.
  • the pressure on the discharge side of the swing hydraulic motor is normal. Compared to (when the relief pressure of the two-stage swing relief valve is set to the first relief pressure), the pressure becomes relatively high.
  • the relief pressure of the two-stage turning relief valve is set to the first relief pressure (low pressure side), so that the turning hydraulic motor is set.
  • the degree of deceleration of the rotation of the upper swing body can be slowed, the occurrence of deceleration shock can be prevented, and the life of the swing hydraulic motor can be extended.
  • the correction response characteristic of the target pump capacity in the direction of decreasing the pump capacity is delayed after a predetermined time has elapsed from the start of the turning cutoff control. can do.
  • the pump discharge pressure fluctuates abruptly for some reason when the turning cutoff is performed the value of the target pump capacity that controls the pump capacity of the hydraulic pump will also fluctuate.
  • the pump capacity of the hydraulic pump is controlled with a control signal based on the changing target pump capacity, the pump capacity of the controlled hydraulic pump is further increased and greatly fluctuates. As a result, the pump discharge pressure will change more greatly, causing a problem that the turning speed fluctuates.
  • the response characteristic can be delayed and output. Therefore, after removing the fluctuation of the target pump displacement, it is used for controlling the pump displacement of the hydraulic pump. be able to. Then, the pump capacity of the hydraulic pump controlled by the control signal based on the target pump capacity excluding the fluctuation does not vary greatly. As a result, fluctuations in the pump discharge pressure can be suppressed, and a stable turning operation can be performed.
  • the turn-off is delayed by outputting the response characteristic without delaying the target pump capacity in the direction of decreasing the pump capacity of the hydraulic pump, that is, Therefore, it is possible to prevent the control for reducing the discharge flow rate from the hydraulic pump from being delayed.
  • the pump discharge pressure due to the turning cut-off does not cause a delay in turning cut-off at the start of turning of the upper turning body. Pressure fluctuation can be prevented.
  • the response characteristic of the target pump capacity is slowed down regardless of the direction in which the pump capacity of the hydraulic pump is increased or decreased after the lapse of a predetermined time. Yes.
  • the pump discharge pressure fluctuates due to some cause, it is possible to control without changing the pump capacity of the hydraulic pump with a smooth control signal without increasing the fluctuation.
  • FIG. 1 is a hydraulic circuit diagram according to an embodiment of the present invention.
  • FIG. 2 is a pump absorption horsepower diagram of the hydraulic pump.
  • FIG. 3 is an operation explanatory view of the turning cutoff.
  • FIG. 4 is a control flow diagram of turning cutoff.
  • FIG. 5 is a main part hydraulic circuit diagram using a two-stage swing relief valve.
  • FIG. 6 is a diagram showing an override characteristic of the two-stage swing relief valve.
  • FIG. 7 is a control flow diagram using a two-stage swing relief valve.
  • FIG. 8 is a diagram showing the relationship between the relief pressure of the swing relief valve and the pump discharge pressure.
  • FIG. 9 is a diagram illustrating a correction amount instruction value characteristic to the torque control valve.
  • FIG. 10 is a diagram showing an override characteristic of the two-stage swing relief valve.
  • FIG. 11 is a diagram illustrating a correction amount instruction value characteristic to the torque control valve.
  • FIG. 12 is an explanatory diagram for controlling the pump capacity of the electronic pump.
  • FIG. 13 is an explanatory diagram for controlling the pump capacity of the hydraulic pump.
  • FIG. 14 is a principal circuit diagram showing a driving state of the upper swing body.
  • FIG. 15 is a main part circuit diagram showing a state when the upper swing body makes a quick return of the operation lever during the swing.
  • FIG. 16 is an explanatory diagram showing how to obtain the target pump capacity and the correction by the correction means.
  • FIG. 17 is a control flowchart for determining rapid return of the operation lever.
  • FIG. 18 is an explanatory diagram showing the pump discharge pressure and the slope angle when the response characteristic is delayed and when the response characteristic is not delayed.
  • FIG. 19 is an explanatory view showing the pump discharge pressure and the slope angle by slowing the response characteristics.
  • FIG. 20 is a diagram illustrating the relationship between the pump discharge pressure, the correction ratio, and the relief pressure.
  • FIG. 21 is a diagram showing temporal changes in pump discharge pressure and pump discharge flow rate.
  • Swing relief pressure switching means 40 41 ... Swash plate control valve 42 ... Lever return determination means 43 ... Lever return determination means 45a, 45b, 45c ... Oil passages 46a, 46b ... Branch point 47 ... Oil passage 50 ... elapsed time determination means 51 ... response characteristic determination means 52 ... determination means 53 ... lever operation amount detection means 54 ... determination means B ... differential pressure sensor value D ... pump capacity D '... target pump displacement E ... correction ratio G1-G4 ... Offset curves L1, L2 ... Pump absorption horsepower N ... Engine speed P ... Pump discharge pressure Pa ... First set value Pb ... Second set value Pc ... Third Set value Pd ... fourth set value Pe ... fifth set value Q ... pump discharge flow rate T ... pump absorption torque Y ... lever operating amount
  • the turning drive control system for a construction machine according to the present invention can be suitably applied to a construction machine equipped with an upper turning body.
  • the turning drive control system for the construction machine of the present invention adopts the shape and configuration as long as it can solve the problems of the present invention. It is something that can be done. For this reason, this invention is not limited to the Example demonstrated below, A various change is possible.
  • FIG. 1 shows a swing drive control system for a construction machine according to an embodiment of the present invention, and in particular, a swing drive control of an upper swing body composed of a swing hydraulic motor that rotationally drives the upper swing body and a variable displacement hydraulic pump.
  • 1 illustrates a hydraulic circuit in a system.
  • the engine 2 is a diesel engine, and the engine torque is controlled by adjusting the amount of fuel injected into the cylinder of the engine 2. This fuel adjustment can be performed by a conventionally known fuel injection device 3.
  • a variable displacement hydraulic pump 6 (hereinafter referred to as a hydraulic pump 6) and a pilot hydraulic pump 19 are connected to the output shaft of the engine 2, and the hydraulic pump 6 and the pilot are rotated by rotating the output shaft of the engine 2.
  • the hydraulic pump 19 is driven.
  • the tilt angle of the swash plate 6a of the hydraulic pump 6 is controlled by the control cylinder 8, and the pump capacity D (cc / rev) of the hydraulic pump 6 changes as the tilt angle of the swash plate 6a changes.
  • the control cylinder 8 is controlled by a load sensing valve 9 that operates according to a differential pressure between the pump discharge pressure and the load pressure of the hydraulic actuator 12, and is controlled by an output pressure from the torque control valve 10.
  • the torque control valve 10 includes the combined pressure of the pilot pressure output from the electromagnetic proportional control valve 11 and the pump discharge pressure from the hydraulic pump 6, and the biasing force of the spring 17 disposed on the other end side of the torque control valve 10. Is controlled to a balanced position.
  • each control valve 13 in the hydraulic actuator 12 The discharge flow rate from the hydraulic pump 6 is supplied to each control valve 13 in the hydraulic actuator 12 via the discharge oil passage 15.
  • a hydraulic excavator will be described as an example of the construction machine.
  • the present invention relates to the swing hydraulic motor 12a that drives the upper swing body 5 in the hydraulic actuator 12, the swing hydraulic motor 12a and the swing control valve 13a that controls the swing hydraulic motor 12a will be described below. I will go.
  • the turning control valve 13a is controlled according to the operation of the operation lever 18a provided on the pilot operation valve 18. By operating the turning control valve 13a with the operation lever 18a, it is possible to control supply / discharge of the discharge flow rate discharged from the hydraulic pump 6 to the turning hydraulic motor 12a. As a result, the swing hydraulic motor 12a can be rotated forwardly, reversely, or stopped, or the rotational speed can be controlled.
  • the load sensing valve 9 is controlled according to the load sensing differential pressure, and the position of the piston 8a in the control cylinder 8 is controlled by the hydraulic pressure from the load sensing valve 9 and the pump discharge pressure,
  • the pump capacity of the hydraulic pump 6 can be controlled to be a capacity corresponding to the load pressure of the hydraulic actuator 12.
  • the oil discharged from the hydraulic pump 6 does not pass through the hydraulic actuator 12 and returns to the center bypass flow rate to the tank 30. Accordingly, the swash plate angle of the hydraulic pump 6 is controlled.
  • the resultant force of the pump discharge pressure of the hydraulic pump 6 and the pilot pressure output from the electromagnetic proportional control valve 11 acts on one end of the spool, and the spring force of the spring 17 acts on the other end of the spool. Is working.
  • the spool of the torque control valve 10 is positioned at a position where the resultant force and the spring force of the spring 17 are balanced.
  • One end of the spring 17 is in contact with the spool of the torque control valve 10, and the other end is in contact with the feedback lever 16 connected to the piston 8a of the control cylinder 8. That is, the spring force of the spring 17 is adjusted according to the position of the piston 8a of the control cylinder 8.
  • the torque control valve 10 can introduce the hydraulic pump 6 into the control cylinder 8 while reducing the pump discharge pressure.
  • the torque control valve 10 has a configuration in which the pump discharge pressure of the hydraulic pump 6 and the spring force of the spring 17 are opposed to each other.
  • a feedback lever 16 from the control cylinder 8 is provided at the other end of the spring 17. Since it is the structure which acts, the force feedback type hydraulic servo mechanism is comprised.
  • the torque control valve 10 A check valve 23 is provided in the output oil passage.
  • the controller 7 instructs the fuel injection device 3 on the command value so that the engine speed corresponding to the command value from the fuel dial 4 is obtained while the rotation speed sensor 24 detects the rotation speed of the engine 2. Further, based on the detected value from the pressure sensor 25 which is a detecting means for detecting the discharge pressure of the hydraulic pump 6 and the operation amount of the operating lever 18a in the pilot operating valve 18 based on the detected value from the pressure sensor 26, an electromagnetic proportional control valve 11 can be controlled to output pilot pressure, or can be controlled to stop outputting pilot pressure.
  • the controller 7 is provided with lever operation amount detection means 53 for detecting the operation amount of the operation lever 18a from the detection value of the pressure sensor 26.
  • the torque control valve 10 can change the set value of the pump absorption torque T in the hydraulic pump 6 to be small.
  • the torque control valve 10 is switched from the I position to the II position. Then, the pump discharge pressure P enters the large-diameter chamber A of the control cylinder 8, and the piston 8a moves right in FIG. 1 to reduce the pump capacity of the hydraulic pump 6.
  • FIG. 2 shows the pump absorption horsepower L1 and L2.
  • the swing control valve 13a When the pilot operation valve 18 that operates the swing control valve 13a is operated by the operation lever 18a, the swing control valve 13a is switched according to the operation amount of the operation lever 18a. When the swing control valve 13a is switched, the pump discharge flow rate from the hydraulic pump 6 is sent to the swing hydraulic motor 12a, and the upper swing body 5 is driven.
  • the load pressure of the swing hydraulic motor 12a acts on the load sensing valve 9 via the sensing oil passage 35.
  • the load sensing valve 9 operates according to the load sensing differential pressure between the pump discharge pressure P and the load sensing pressure, and the pump capacity D of the hydraulic pump 6 immediately increases (usually during a time of about 0.2 to 0.3 sec). .
  • the pressure oil supplied to the swing hydraulic motor 12a becomes an excessive flow rate and is discharged from the two-stage swing relief valve 14 to the tank 30 as a relief flow rate.
  • harmful effects such as deterioration of the fuel consumption of the engine 2, increase of hydraulic oil temperature, increase of relief noise, etc. Will be invited.
  • the function of the two-stage swing relief valve 14 may be such that the relief flow rate is minimized and the pump discharge pressure P supplied to the swing hydraulic motor 12a can be regulated so that the maximum pressure can be maintained.
  • the pump discharge pressure P supplied to the swing hydraulic motor 12a is maintained at the maximum pressure, and the relief flow discharged from the two-stage swing relief valve 14 is reduced.
  • the configuration will be described below.
  • the pump discharge is performed while the swing speed of the upper swing body 5 is accelerating, that is, the pump discharge pressure is increasing. It is determined as a condition when the pressure P exceeds a first set value Pa (see FIG. 3D) set in advance by experiments or the like. When this condition is satisfied, the value of the target pump capacity for controlling the pump capacity D of the hydraulic pump 6 according to the pump discharge pressure P is decreased by the correcting means 37 provided in the controller 7. Can do.
  • the canceling means 38 provided in the controller 7 with the correction by the correcting means 37 is performed. It can be set as the structure canceled by.
  • the magnitude relationship between the first set value Pa and the second set value Pb is Pa ⁇ Pb.
  • the pump discharge pressure rapidly increases because the flow rate flowing into the turning hydraulic motor 12a is smaller than the discharge flow rate of the hydraulic pump 6.
  • the control for reducing the pump capacity after the pump discharge pressure exceeds the relief pressure, that is, the turning cutoff control is started it takes time until the pump capacity actually decreases. Therefore, the first set value Pa is set in consideration of the response time during which the pump capacity decreases.
  • control to reduce the pump capacity by the swing cut-off control is a flow rate that flows into the swing hydraulic motor 12a when the swing relief valve is removed from the relief state, that is, even if the pump discharge pressure falls below the relief pressure. Will decrease, causing problems such as a decrease in the turning speed of the upper turning body and a change in the turning speed.
  • the second set value Pb needs to be a pressure in the vicinity of the swing relief valve coming out of the relief state. Therefore, the second set pressure Pb needs to be equal to or higher than the first set pressure Pa.
  • the pump absorption horsepower in the hydraulic pump 6 can be limited from the normal pump absorption horsepower L1 state to the pump absorption horsepower L2 state, and The pump absorption horsepower L2 is gradually restored from the pump absorption horsepower L1 state to the pump absorption horsepower L1 state.
  • the pump capacity D of the hydraulic pump 6 can be controlled so that the pump absorption horsepower L2 is obtained. That is, the value of the pump absorption torque in the torque control valve 10 can be reduced, and the pump capacity D of the hydraulic pump 6 can be controlled to be reduced. Accordingly, since the discharge flow rate from the hydraulic pump 6 is reduced, the relief flow rate discharged from the two-stage swing relief valve 14 can be reduced.
  • the pump absorption horsepower is gradually increased from the pump absorption horsepower L2 state to the pump absorption horsepower L1 state as the upper swing body 5 is accelerated and increased. That is, the pump absorption torque value in the torque control valve 10 is increased to the original pump absorption torque value. As a result, when the upper swing body 5 is in a steady swing state, the entire pump discharge amount can be supplied to the swing hydraulic motor 12a.
  • the conditions for limiting the pump absorption horsepower L1 state to the pump absorption horsepower L2 state include the pressure sensor 25 for detecting the pump discharge pressure P of the hydraulic pump 6 or the pump discharge pressure P input to the swing hydraulic motor 12a.
  • a detection signal obtained from a pressure sensor (not shown) to be detected two pressure sensors are preferably provided since it is necessary to detect the forward rotation and the reverse rotation of the swing hydraulic motor 12a). Accordingly, the pump absorption horsepower L1 can be limited to the pump absorption horsepower L2 state, or the pump absorption horsepower L2 state can be returned to the pump absorption horsepower L1 state.
  • the pump absorption horsepower of the hydraulic pump 6 is The state of pump absorption horsepower L2 lower than the state of pump absorption horsepower L1 (state of pump absorption torque value set in advance) when the control according to the present application is not performed (the pump absorption torque for controlling the hydraulic pump by the correction means) As a value, the hydraulic pump can be driven in a state where the value is regulated so as to be a small value.
  • the pump absorption horsepower L1 can be returned to the state when the turning cutoff control according to the present application is not performed.
  • the pump absorption horsepower is limited to the low pressure side pump absorption horsepower L2. Can do. Then, the relief flow rate discharged without being used for driving the swing hydraulic motor 12a can be greatly reduced.
  • the pump absorption horsepower can be increased from the pump absorption horsepower L2 state to the pump absorption horsepower L1 state.
  • the entire pump discharge flow rate discharged from the hydraulic pump 6 can be supplied to the swing hydraulic motor 12a with the relief flow rate reduced.
  • the correction means 37 and the release means 38 may be configured by an electromagnetic proportional control valve that controls the torque control valve. it can.
  • the dimension Q1 in the vertical axis direction at the pump absorption horsepower L1 indicates the relief flow rate discharged from the two-stage swing relief valve 14 when the swing cutoff is not performed. Further, the dimension Q2 in the vertical axis direction at the pump absorption horsepower L1 indicates the relief flow rate discharged from the two-stage swing relief valve 14 when the swing cutoff is performed.
  • the rotational speed of the upper swing body 5 is detected by speed detection means (not shown), and depending on the detection signal from the speed detection means, the pump absorption horsepower L1 is limited to the pump absorption horsepower L2 state, It is also possible to return the pump absorption horsepower L2 to the pump absorption horsepower L1.
  • the operation amount of the operation lever 18a of the pilot operation valve 18 is detected by a pressure sensor 31 that detects the pilot pressure of the pilot operation valve 18 or an angle sensor (not shown) that detects the operation angle of the operation lever 18a.
  • the pump absorption horsepower L1 state can be limited to the pump absorption horsepower L2 state, or the pump absorption horsepower L2 state can be returned to the pump absorption horsepower L1 state.
  • the above-described detection sensor, detection means, differential pressure sensor, and angle sensor can be used in combination instead of being used alone.
  • FIG. 3 represents a time axis common to FIGS. 3 (a) to 3 (f). Further, two broken line intervals shown in parallel with the vertical axis indicate a period during which the turning speed increases from the state in which the upper turning body 5 is stopped to the steady turning speed.
  • FIG. 3A shows the output pressure of the pilot operation valve 18 detected by the pressure sensor 26.
  • the output pressure of the pilot operation valve 18 can be detected as the operation amount of the operation lever 18a.
  • the vertical axis in FIG. 3 (b) indicates the pump capacity D in the hydraulic pump 6.
  • the thick line indicates the pump displacement D when the turning cutoff control according to the present invention is not performed, and the dotted line indicates the case where the turning cutoff control according to the present invention is performed.
  • the pump capacity D at is shown.
  • the vertical axis in FIG. 3 (c) indicates the turning speed V of the upper turning body 5.
  • the turning speed V can also be grasped as the flow rate flowing into the swing hydraulic motor 12a. Therefore, the vertical axis in FIG. 3C shows the flow rate flowing into the swing hydraulic motor 12a. Also become. Therefore, in FIG. 3C, the thick line indicates the discharge flow rate discharged from the hydraulic pump 6 when the turning cutoff control according to the present invention is not performed.
  • the dotted line indicates the pump discharge flow rate discharged from the hydraulic pump 6 when the turning cutoff control according to the present invention is controlled.
  • the thin line indicates the flow rate required for the swing hydraulic motor 12a to drive the upper swing body 5 in both cases where the swing cutoff control according to the present invention is controlled and not performed. Show. That is, no matter how much pump discharge flow rate is discharged from the hydraulic pump 6, only the flow rate indicated by the thin line is used to drive the swing hydraulic motor 12a.
  • 3 (d) indicates the pump discharge pressure P from the hydraulic pump 6.
  • the vertical axis in FIG. 3D the bold line indicates the pump discharge pressure P when the turning cutoff control according to the present invention is not performed or when a turning relief valve with good override characteristics is used.
  • the dotted line shows the pump discharge pressure P when a turning relief valve with poor override characteristics is used.
  • Pa on the vertical axis represents the first set value
  • Pb represents the second set value.
  • the vertical axis in FIG. 3E indicates the pilot output pressure output from the electromagnetic proportional control valve 11.
  • the thick line in FIG. 3 (e) indicates the pilot output pressure output from the electromagnetic proportional control valve 11 when the swing cutoff control according to the present invention is not performed, and the dotted line indicates the swing cut according to the present invention.
  • the pilot output pressure output from the electromagnetic proportional control valve 11 when OFF control is performed is shown.
  • the vertical axis in FIG. 3 (f) indicates the set pressure of the two-stage swing relief valve when the swing two-stage swing relief valve is used as the swing relief valve as will be described later.
  • FIG. 3 (a) FIG. 1 and FIG. 3 and FIG. 4 showing the control flow of the turning cut-off are shown for the case where the pressure sensor 26 detects that the pilot operated valve 18 is fully operated. It explains using.
  • step S1 in FIG. 4 X is set as a set value for the pump absorption torque T of the hydraulic pump 6. That is, the output pressure output from the electromagnetic proportional control valve 11 as shown by the thick line in FIG.
  • the process proceeds to step S2.
  • step S2 it is determined whether or not a pilot pressure for operating the turning control valve 13a has been output from the pilot operation valve 18. By detecting that the pilot output pressure as shown in FIG. 3A is standing by the pressure sensor 26, it can be determined that the pilot operation valve 18 has been operated. If it is determined in step S2 that the pilot operated valve 18 has been operated, the process proceeds to step S3. Otherwise, the process proceeds to step S8, and the same control as when the turning cutoff control has not been performed is performed.
  • step S3 it is determined whether or not the pump pressure P has exceeded a first set pressure Pa set in advance through experiments or the like. If it exceeds, the process proceeds to step S4, and if not, the process proceeds to step S8, and the same control as when the turning cutoff control is not performed is performed.
  • step S4 the pump absorption torque setting value X is corrected by the correction means 37 provided in the controller 7 in accordance with the pump pressure P, so that the pump absorption torque of the hydraulic pump 6 is lowered.
  • step S5 the pump capacity D of the hydraulic pump 6 is controlled based on the new set value of the pump absorption torque. That is, the controller 7 controls the electromagnetic proportional control valve 11 to output a pilot output pressure as shown by a dotted line in FIG. As a result, the torque control valve 10 controls the pump capacity of the hydraulic pump 6 based on the new set value of the pump absorption torque.
  • the controller 7 controls the output pressure as shown by the bold line in FIG. 3 (e) from the electromagnetic proportional control valve 11 to the torque control valve 10. Will do.
  • the pump capacity D of the hydraulic pump 6 is controlled by the set value X of the pump absorption torque T.
  • step S5 when the control of the pump capacity D of the hydraulic pump 6 is started based on the new set value of the pump absorption torque, the process proceeds to step S6.
  • step S6 is the pump pressure P not decreasing? Or is the pump pressure P not lower than the second set value Pb? Is determined. That is, when the pump pressure P is in a downward trend and falls below the second set value Pb, the process proceeds to step S8.
  • step S8 the correction that has been corrected by the correction unit 37 is canceled by the release unit 38. Become.
  • the release means 38 controls the new set value of the pump absorption torque T to be the original set value X of the pump absorption torque. This control will be described with reference to FIGS. 1 and 3.
  • the torque control valve 10 receiving the output pressure from the electromagnetic proportional control valve 11 is switched to the II position side in FIG.
  • the pump absorption torque T is reduced to control the pump capacity D of the hydraulic pump 6 to be small.
  • the pump capacity D of the hydraulic pump 6 is controlled to have a pump capacity as indicated by the dotted line in FIG. Then, the pump capacity D is gradually increased as shown by the dotted line in FIG. 3B from the state in which the upper swing body 5 is stopped until it rises to the steady swing speed. Be controlled.
  • FIG. 3B shows an example in which the pump capacity D of the hydraulic pump 6 starts from the minimum pump capacity, a hydraulic pump that can start the minimum pump capacity from zero capacity may be used.
  • the pump capacity D of the hydraulic pump 6 rises from zero capacity without rising from the minimum pump capacity state as shown in FIG.
  • the pump discharge flow rate discharged from the hydraulic pump 6 is supplied to the swing hydraulic motor 12a side as shown by the dotted line in FIG.
  • the controller 7 controls the release means 38 and the set value of the pump absorption torque corrected by the correction means 37.
  • the correction is canceled so that it becomes the original set value X.
  • the pump capacity D of the hydraulic pump 6 returns to a state where the turning cutoff is not performed.
  • the flow rate indicated by a thin line is consumed as the flow rate consumed by the turning hydraulic motor 12a that drives the upper turning body 5 to turn until the upper turning body 5 starts to turn to the steady turning speed. It will be.
  • the flow rate consumed by the swing hydraulic motor 12a is configured not to change regardless of whether or not the swing cut-off control is being performed.
  • the flow rate indicated by the difference between the thick line and the thin line is not consumed by the drive of the turning hydraulic motor 12a but is discharged from the two-stage turning relief valve 14. It will end up.
  • the total relief flow discharged from the two-stage swing relief valve 14 at this time can be represented by an area surrounded by a thick line and a thin line.
  • the hydraulic pump 6 is in a state where the correction by the correction means 37 has been performed, as indicated by the dotted line in FIG. Since the pump displacement D is controlled, the rising gradient of the pump displacement D in the hydraulic pump 6 is a gentle gradient. For this reason, the pump capacity D does not rise rapidly as shown by the thick line but gradually increases as shown by the dotted line.
  • a flow rate as indicated by the dotted line in FIG. 3C is supplied to the turning hydraulic motor 12a side.
  • the relief flow rate discharged from the two-stage swing relief valve 14 without being consumed by the swing hydraulic motor 12a is a flow rate indicated by the difference between the dotted line and the thin line.
  • the total relief flow discharged from the two-stage swing relief valve 14 can be expressed as an area surrounded by a dotted line and a thin line.
  • the relief flow discharged from the two-stage swing relief valve 14 can be reduced by controlling the swing cutoff. Moreover, even if the relief flow rate is reduced, the flow rate consumed by the swing hydraulic motor 12a can be secured, so the upper swing body 5 is stopped under the same conditions without changing the control of the swing cutoff. The state can be increased to the steady turning speed.
  • step S7 it is determined whether or not a command for supplying a predetermined amount or more of hydraulic oil is output to the hydraulic actuators 12 other than the swing hydraulic motor 12a sharing the hydraulic pump 6. Is called.
  • a command to supply a predetermined amount or more of hydraulic oil is issued to the hydraulic actuators 12 other than the swing hydraulic motor 12a sharing the hydraulic pump 6, if the swing cutoff control is performed, the hydraulic pump 6 Although a problem that the supplied flow rate is insufficient occurs, the occurrence of the problem can be prevented by performing the determination in step S7.
  • step S7 If it is determined in step S7 that a command for supplying a predetermined amount or more of hydraulic oil is output to the hydraulic actuators 12 other than the swing hydraulic motor 12a sharing the hydraulic pump 6, the process proceeds to step S8 and the swing is performed. The same control as when the cutoff control has not been performed is performed.
  • the drive control of the swing hydraulic motor 12a can be performed in the same manner as when the swing cut-off control is not performed, and the relief flow discharged from the two-stage swing relief valve 14 can be reduced. Can be reduced. As a result, it is possible to greatly improve the adverse effects such as deterioration of the fuel consumption of the engine, increase of the hydraulic oil temperature, and increase of relief noise.
  • the characteristics of the relief valve may be explained using the relationship between the input pressure to the relief valve and the relief flow discharged through the relief valve. Is generally called the override characteristic.
  • the relief valve does not discharge any fluid up to a certain relief pressure, and the pressure on the inlet side of the relief valve does not change no matter how much the relief flow is increased beyond a certain relief pressure.
  • a relief valve having such characteristics is called a relief valve having good override characteristics.
  • a relief valve with poor override characteristics is a relief valve in which the relief pressure increases greatly as the relief flow rate increases.
  • FIG. 6 is a graph in which the pressure on the inlet side of the relief valve is plotted on the horizontal axis and the relief flow rate is plotted on the vertical axis, and shows the characteristics of two relief valves with poor override characteristics.
  • the relief pressure is shown as a graph showing characteristics substantially parallel to the vertical axis.
  • a relief valve having a bad override characteristic indicated by a thick line in FIG. 6 is used as the two-stage swing relief valve 14.
  • the two-stage swing relief valve 14 having the characteristic of the thick line is assumed to relieve at the point A by design. If the turning cut-off is performed on the two-stage swing relief valve 14 having a thick line characteristic, the pump discharge amount from the hydraulic pump 6 is reduced, so that the flow rate flowing through the two-stage swing relief valve 14 having the thick line characteristic is also As a result, the pressure at the inlet of the two-stage swing relief valve 14 having the characteristic of a thick line decreases to the point B.
  • the pressure of the oil supplied to the swing hydraulic motor 12a that is, the pump discharge pressure P at the inlet side of the two-stage swing relief valve 14 is larger than when the swing is operating with the relief pressure at the point A.
  • the turning torque decreases.
  • the acceleration performance when turning the upper turning body 5 is deteriorated, or the turning force of the upper turning body 5 is reduced, so that the lateral application force when the work implement is horizontally placed on the object is reduced. Will occur.
  • the present invention reduces the relief flow rate even if a turning relief valve with poor override characteristics is used, even if the relief flow rate is reduced by turning off the turning. Accordingly, the relief pressure is not reduced. That is, in this case, the relief pressure of the two-stage swing relief valve 14 is constituted by a two-stage swing relief valve that can be set to a second relief pressure higher than the first relief pressure.
  • the thick line is changed to the thin line by setting the relief pressure on the high pressure side. Accordingly, it is possible to obtain the pump discharge pressure P equivalent to that when the turning cutoff is not performed or the pump discharge pressure P to the turning hydraulic motor 12a.
  • the relief pressure of the two-stage swing relief valve 14 is set to the first relief pressure on the low pressure side so as to have the characteristic of the thick line in FIG.
  • the relief pressure of the two-stage swing relief valve 14 can be set to the second relief pressure on the high pressure side as shown by the thin line in FIG.
  • electromagnetic switching means 29 for controlling the two-stage swing relief valve 14 is provided as shown in FIG.
  • the swing relief pressure switching means 39 provided in the controller 7 controls the electromagnetic switching means 29 to switch the two-stage swing relief valve 14 to change the relief pressure between the second relief pressure on the high pressure side and the low pressure. And the first relief pressure on the side.
  • the electromagnetic switching means is, for example, an on / off solenoid valve, which may be directly attached to the two-stage swing relief valve or externally attached.
  • FIG. 5 shows a state where the electromagnetic switching means 29 is turned on and the two-stage swing relief valve 14 is set to the second relief pressure. When the electromagnetic switching means 29 is turned off, the relief pressure is shown. Can be set to the first relief pressure.
  • the configuration in FIG. 5 is an extraction of the configuration of the hydraulic device that drives the upper swing body 5 to rotate from the configuration in FIG. 1, and the same reference numerals are used for the same members as in FIG. 1.
  • the description of FIG. 5 is omitted because the same reference numerals are used for the same members as those in FIG.
  • FIG. 5 shows an example in which the variable displacement hydraulic pump is configured as an electronically controlled pump 20 that directly commands the pump displacement from the controller 7.
  • the pump capacity of the pump 20 can be controlled by a swash plate control valve 21 that is controlled by a solenoid valve 36.
  • hydraulic pump in FIG. 5 can be configured such that the swash plate control valve 21 is controlled by the pilot pressure. If comprised in this way, control similar to the hydraulic pump 6 shown in FIG. 1 can be performed.
  • the main part of the configuration for controlling the pump capacity of the hydraulic pumps 6 and 20 can be configured as shown in FIG. 12 in the case of the pump 20, and in the case of the hydraulic pump 6, as shown in FIG. It can be configured as follows.
  • the target pump capacity for controlling the pump capacity of the pump 20 can be obtained using the relational expression / P.
  • the pump displacement of the pump 20 is controlled based on the detection signal for the operation amount of the operation lever 18a or the detection signal corresponding to the operation amount of the operation lever 18a detected by the differential pressure sensor 32 in the case of an open sensor type hydraulic circuit.
  • the target pump capacity to be obtained can be obtained.
  • the controller 7 controls the pump capacity of the pump 20 by controlling the pump absorption torque using the target pump capacity obtained by the above relational expression or outputting it as a swash plate command to the swash plate control valve 41. be able to.
  • the pump discharge pressure P from the hydraulic pump 6 is input to the swash plate control valve 40 as shown in FIG. 13, and the controller 7 performs control based on the torque command value T.
  • the swash plate control valve 40 can be controlled to control the pump capacity of the hydraulic pump 6.
  • the set pressure of the two-stage swing relief valve 14 having a thick line characteristic is set as the relief pressure at the point A in FIG.
  • the case will be described.
  • the relief pressure of the two-stage swing relief valve 14 is not changed to the high pressure side, the pressure on the inlet side of the two-stage swing relief valve 14 having the characteristic of the thick line is lowered by performing the swing cutoff. .
  • the relief flow rate from the two-stage swing relief valve 14 having a thick line characteristic the relief flow rate is reduced to the flow rate range indicated by point B.
  • the pump discharge pressure P acting on the swing hydraulic motor 12a is the pressure at point B.
  • the same flow rate as the relief flow rate at the point B may be relieved from the two-stage swing relief valve 14 when the swing cutoff is performed.
  • the relief pressure of the two-stage swing relief valve 14 is changed to the high pressure side so that the pressure on the inlet side of the two-stage swing relief valve 14 becomes the same pressure as the relief pressure at the point A, that is, FIG.
  • the pump discharge pressure P acting on the swing hydraulic motor 12a can be changed to the pump discharge pressure P at the point C without changing the relief flow rate discharged from the two-stage swing relief valve 14. It is not necessary to reduce the pump discharge pressure P acting on the swing hydraulic motor 12a.
  • the relief pressure in the two-stage swing relief valve 14 can be set to two stages when the swing cutoff is performed. That is, at the time of turning cutoff, the electromagnetic switching means 29 shown in FIG. 5 can be controlled to set the relief pressure of the two-stage turning relief valve 14 to the second relief pressure on the high pressure side.
  • the relief pressure of the two-stage swing relief valve 14 When the relief pressure of the two-stage swing relief valve 14 is set to the second relief pressure on the high pressure side, the two-stage swing relief valve 14 having the characteristics of the thin line in FIG. 6 can be obtained. At this time, the relief pressure at the two-stage swing relief valve 14 having the characteristics of a thin line can be increased up to the pressure at the point A ′ moved to the right from the position of the point A.
  • the relief flow discharged from the two-stage swing relief valve 14 having the fine line characteristic is Even if the relief flow rate is the same as the relief flow rate at point B described above, the pressure on the inlet side of the two-stage swing relief valve 14 having the characteristics of a thin line can be set to the same pressure as point A.
  • the turning control valve 13a is illustrated as a four-port switching valve.
  • the pressure oil flow rate discharged from the swing hydraulic motor 12a is discharged to the tank 30 through the oil passage 45b and the swing control valve 13a, and from the branch point 46a of the oil passage 45a through the check valve 22.
  • the discharge flow rate flowing through the oil passage 45c is controlled by the relief pressure of the two-stage swing relief valve 14.
  • step S11 the set pressure of the two-stage swing relief valve 14 is set to the first relief pressure on the low pressure side, and the set value of the pump absorption torque of the hydraulic pump 6 is set to X.
  • step S12 The control in steps S12 to S18 shows the control of the turning-off, and is the same as steps S2 to S8 in FIG.
  • step S19 to step S24 shows the control flow of the two-stage swing relief valve 14.
  • step S19 the determination means 54 determines whether or not the turning body is accelerating.
  • the turning operation lever 18 is input larger than the predetermined amount D, it is recognized that the pump discharge pressure is increasing, and when the determination here is “Yes”, the process proceeds to Step S20. If the determination here is “No”, the process proceeds to step S24, where the relief pressure of the two-stage swing relief valve 14 is the first relief pressure.
  • step S20 is the pump discharge pressure P greater than or equal to the third set value Pc? Determine whether or not.
  • the determination here is “Yes”
  • the process proceeds to Step S21
  • the process proceeds to Step S24, and the set pressure of the two-stage swing relief valve 14 remains at the first relief pressure, and the process proceeds to Step S11. Return and repeat the control from step 12 onwards.
  • FIG. 8 shows the relief pressure of the two-stage swing relief valve 14 on the vertical axis and the pressure on the input side of the swing hydraulic motor 12a (pump discharge pressure P) on the horizontal axis.
  • Relief pressure second relief pressure on the high pressure side and first relief pressure on the low pressure side, second relief pressure> first relief pressure
  • pump discharge pressure third set value Pc and fourth set value Pd, It is the graph which showed the relationship with Pc> Pd).
  • the third set value Pc and the fourth set value Pd are set close to each other, the first relief pressure and the high pressure at which the relief pressure of the two-stage swing relief valve 14 is on the low pressure side in the vicinity of the pressure. There is a risk that a problem of frequent switching between the second relief pressure and the second relief pressure may occur. Therefore, the values of the third set value Pc and the fourth set value Pd can be obtained experimentally so that such a problem does not occur.
  • the two-stage swing relief valve 14 is provided to protect the swing device and the like from an excessive pump discharge pressure P, but the swing control valve 13a is closed and the pump discharge pressure P from the hydraulic pump 6 is transmitted. Even when the upper swing body 5 is driven by an external force, the pump discharge pressure P is set in the swing hydraulic motor 12a even in this case. It is provided for protection.
  • step S21 the controller 7 outputs a control signal to the electromagnetic switching means 29 to set the relief pressure of the two-stage swing relief valve 14 from the first relief pressure on the low pressure side to the second relief pressure on the high pressure side. To do.
  • the process proceeds to step S22.
  • step S22 isn't the pump discharge pressure P decreasing? Or is the pump discharge pressure P not lower than the fourth set value Pd? Determine whether or not.
  • the determination result is “Yes”
  • the process proceeds to Step S23, and when “No”, the process proceeds to Step S24.
  • step S24 the relief pressure of the two-stage swing relief valve 14 is changed to the first relief pressure on the low pressure side.
  • the third set value Pc is set to a value smaller than the first set value Pa
  • the fourth set value Pd is set to a value equal to or less than the second set value Pb. Therefore, during the swing cut-off control, the set value of the relief pressure of the two-stage swing relief valve 14 is always high (second relief pressure), and the first relief pressure, the second relief pressure, There is no switching between. Thereby, the pressure fluctuation resulting from switching the set value of the relief pressure during the turning cutoff can be prevented.
  • step S23 “a command to supply a predetermined amount or more of hydraulic oil to the hydraulic actuator 12 that is not below the predetermined amount D and that shares the hydraulic pump 6 other than the swing hydraulic motor 12a is issued. Isn't it output, and the upper swing body 5 is not decelerating? " Determine whether or not.
  • step S24 If the result of the determination is “No”, the process proceeds to step S24. If “yes”, the process returns to step S11, and the turning cutoff control from step S12 and the control of the two-stage turning relief valve 14 from step S19 are repeated. A method for determining whether or not the upper-part turning body 5 is decelerating will be described in detail later with reference to FIG.
  • step S24 control is performed to switch the set pressure of the two-stage swing relief valve 14 to the first relief pressure.
  • step S24 ends, the process returns to step S11, and the control from step S12 is repeated. Accordingly, when the determinations in step S22 and step S23 are both “yes”, the set pressure of the two-stage swing relief valve 14 is maintained at the second relief pressure.
  • FIG. 9 shows the relationship between the pump discharge pressure P and the correction amount to the torque control valve 10.
  • the vertical axis shows the torque correction ratio of the pump absorption torque T
  • the horizontal axis shows the pump discharge pressure P. Yes.
  • the pump discharge pressure P becomes equal to or higher than the first set value Pa without limiting the pump absorption torque to the torque control valve 10.
  • the pump capacity is reduced by limiting the pump absorption torque.
  • FIG. 10 shows the relationship between the pump discharge pressure P and the relief flow rate from the two-stage swing relief valve 14.
  • the vertical axis shows the relief flow rate, and the horizontal axis shows the pump discharge pressure P. Show.
  • the first set value Pa, the fifth set pressure Pe, and the torque correction amount of the pump absorption torque between them, that is, the value of the correction ratio E, etc. are the turning acceleration of the upper swing body 5 when the turning cut-off is performed. However, it can be obtained experimentally so as to be equivalent to the conventional case where the turning-off is not performed.
  • the first set value Pa is set as a value in the vicinity of the relief pressure of the two-stage swing relief valve 14 when the relief pressure of the two-stage swing relief valve 14 is set to the second relief pressure on the high pressure side. be able to.
  • the fourth set value Pd can be set as a value in the vicinity of the relief pressure of the two-stage swing relief valve 14 in the conventional case where the swing cutoff is not performed.
  • the correction ratio E is set to a value of “1”, and when the pump discharge pressure P becomes equal to or higher than the fifth set value Pe, for example,
  • the correction ratio E can be set to a substantially constant Emin.
  • the value of Emin can be obtained as an optimal value from experiments or the like.
  • the value of the correction ratio E may be set to be a proportional value according to the pump discharge pressure P. it can.
  • FIG. 9 shows a proportional relationship in the form of a cubic function, it may be set so as to have a linear proportional relationship as shown in FIG. Alternatively, it can be set as a quadratic proportional relationship or other functional proportional relationship. As these proportional relationships, an optimal proportional relationship can be obtained from experiments or the like.
  • the set pressure difference between the second relief pressure on the high pressure side and the first relief pressure on the low pressure side in the two-stage swing relief valve 14 is also long, and the time for performing the swing cutoff during actual operation is long, and It can be obtained experimentally as a value that can increase the torque correction amount of the pump absorption torque T.
  • the torque correction amount of the pump absorption torque T used by the correction means 37 is a value corresponding to the pump discharge pressure P (calculated or experimentally obtained from the pump discharge pressure P). 11 or according to the turning speed of the upper turning body 5 and the operation lever 18a as shown in FIG.
  • the correction amount is the largest of the torque correction ratios determined by the pump discharge pressure P, the turning speed of the upper turning body 5, the operation lever 18a, etc. You can also choose the one with less.
  • the method for obtaining the target pump capacity based on the correspondence relationship between the pump discharge pressure P and the absorption torque T has been described, but in order to control the pump capacity of the hydraulic pumps 6 and 20 including the pump 20.
  • This method is a method of obtaining the operation amount Y of the operation lever 18a and the target pump capacity D 'from the relationship between the graphs Z1 and Z2 in FIG.
  • the graphs Z3 and Z4 in FIG. 16 show a method for obtaining the target pump capacity D 'based on the opposing relationship between the pump discharge pressure P and the absorption torque T.
  • FIG. 16 is used to explain the method for obtaining the target pump displacement D ', and will be explained using the hydraulic circuit diagram of FIG.
  • the basic configuration of the hydraulic circuit in FIG. 5 is the same as that of the hydraulic circuit shown in FIG. Therefore, the description of the same members as those used in the hydraulic circuit shown in FIG. 1 is omitted by using the same reference numerals.
  • FIG. 5 shows a circuit configuration in which the controller 7 directly commands the pump capacity from the controller 7 to the swash plate control valve 21, but as shown in FIG. It is also possible to adopt a circuit configuration.
  • a pressure sensor 31 for detecting the PPC pressure from the pilot operation valve 18 is provided, and the number of ports in the turning control valve 34 is used to detect the operation amount of the operation lever 18 a in the pilot operation valve 18. 6 ports are configured.
  • the port of the turning control valve 34 includes a port connected to the tank 30, two ports connected to the pump 20, two ports connected to the oil passages 45a and 45b to the turning hydraulic motor 12a, and the operation of the turning control valve 34. And a port connected to the oil passage 47 for detecting the situation.
  • the oil passage 47 connected to the tank 30 is provided with a throttle 33.
  • the operating state of the swing control valve 34 that is, the operation lever 18a.
  • the operation amount can be detected. That is, the spool of the swing control valve 34 slides in accordance with the operation amount of the operation lever 18a, and the opening area at the port of the swing control valve 34 connected to the oil passage 47 is equal to the spool area of the swing control valve 34. It changes by sliding.
  • the change in the flow rate flowing through the oil passage 47 can be detected by the differential pressure sensor 32, and the differential pressure sensor 32 can detect the differential pressure across the throttle 33 provided in the oil passage 47.
  • the operation amount can be detected.
  • oil passage 45a and the oil passage 45b connected to the swing hydraulic motor 12a are connected to the check valve 22 from the branch points 46a and 46b, respectively, and the pressure on the high pressure side in the oil passage 45a and the oil passage 45b.
  • the oil is discharged from the check valve 22 to the tank 30 through the oil passage 45c.
  • a two-stage swing relief valve 14 is disposed in the oil passage 45c, and the two-stage swing relief valve 14 uses the electromagnetic switching means 29 to change the relief pressure to the second relief pressure on the high pressure side and the first pressure on the low pressure side. It can be switched to relief pressure.
  • 16 is a graph showing a correspondence relationship between the operation amount Y of the operation lever 18a and the detection value of the differential pressure sensor 32. That is, when the value detected by the differential pressure sensor 32 is B1, it can be seen from the correspondence in the graph Z1 that the operation lever 18a is operated by the operation amount Y1.
  • Graph Z3 is a graph showing the correspondence between actual engine speed N and pump absorption torque T
  • graph Z4 shows the relationship between pump discharge pressure P and target pump capacity D ′ with respect to pump absorption torque T. It is a graph.
  • the pump absorption torque when the actual engine speed is N2 is required to correspond to the value of T2.
  • the target pump capacity corresponds to D5 '. Then, the pump 20 can be controlled so that the pump capacity becomes the target pump capacity D5 '.
  • the target pump capacity D1 ′ when there is a magnitude relationship between the value of the target pump capacity D1 ′ when the operation lever 18a is operated by the operation amount Y1 and the value of the target pump capacity D5 ′ corresponding to the pump discharge pressure P5,
  • the smaller target pump capacity D1 ′ or target pump capacity D5 ′ is set as the target pump capacity Dmin ′. Then, if the target pump capacity of the pump 20 is corrected by the turning cutoff based on the target pump capacity Dmin ′, the useless discharge flow rate discharged from the two-stage turning relief valve 14 can be reduced.
  • the magnitude relationship is determined between the value of the target pump capacity D1 ′ when the operation lever 18a is operated by the operation amount Y1 and the value of the target pump capacity D5 ′ corresponding to the pump discharge pressure P5.
  • the pump capacity of the pump 20 is controlled based on the target pump capacity Dmin ′.
  • the correction means 37 is operated to reduce the value of the target pump capacity Dmin ′. This will be further described with reference to FIG. Of the target pump capacity D1 'and the target pump capacity D5', the smaller target pump capacity is Dmin '. From the correspondence between the pump discharge pressure P and the correction ratio E shown in the graph Z5, the pump discharge pressure The correction ratio E1 corresponding to P5 is obtained.
  • the present invention can also be suitably applied to a turning drive control system having a circuit configuration in which the controller 7 directly commands the pump displacement to the swash plate control valve 41.
  • the pump displacement of the pump 20 can be controlled based on only the value of the target pump displacement D1 ′ when the operation lever 18a is operated by the operation amount Y1, or the pump discharge pressure P5 It is also possible to control the pump capacity of the pump 20 based only on the value of the target pump capacity D5 ′ corresponding to.
  • the turning cut-off control in the present invention is not limited to controlling the pump displacement of the pump 20, and for example, the controller 7 commands the swash plate control valve 40 as shown in FIG.
  • the present invention can also be suitably applied to a turning drive control system having a circuit configuration.
  • the two-stage swing relief valve 14 is set to the high-pressure side second relief pressure by the swing cutoff, the pressure on the discharge side of the swing hydraulic motor 12a is normal (the two-stage swing relief valve is set to a low pressure). As compared with the first relief pressure on the side).
  • the relief pressure of the two-stage swing relief valve 14 is set to the first relief pressure on the low pressure side.
  • the degree to which the rotation of the upper swing body 5 is decelerated can be made slow, and the occurrence of deceleration shock is prevented.
  • the life of the swing hydraulic motor 12a is not shortened by not increasing the pressure applied to the swing hydraulic motor 12a.
  • the pilot control that the swing control valve 13a is suddenly returned to the neutral direction or switched back.
  • the pilot pressure from the operation valve 18 is detected by the pressure sensor 31, and the operation angle of the operation lever 18a (the operation angle can be detected by installing an angle detector on the pilot operation valve 18). This can be obtained by detecting by a rotation speed sensor (not shown) of the swing axis of the upper swing body 5 or the like.
  • the lever return determination means 42 can be configured so that the controller 7 can detect that the vehicle has shifted from the steady turning state to the deceleration state.
  • the controller 7 determines that the vehicle is in such a deceleration state, the controller 7 outputs a signal for stopping the turning cutoff to the electromagnetic proportional control valve 11 as shown in FIG.
  • a control signal is output to the means 29 to perform control for setting the relief pressure in the two-stage swing relief valve 14 to the first relief pressure Lo on the low pressure side.
  • the relief pressure of the two-stage swing relief valve 14 can be set to two stages, that is, the first relief pressure on the low pressure side and the second relief pressure on the high pressure side.
  • the relief pressure can be set steplessly according to the pilot pressure introduced into the two-stage swing relief valve 14, that is, the two-stage swing relief valve 14 can be configured as a variable relief valve.
  • the solenoid valve that changes the relief pressure of the two-stage swing relief valve 14 is also changed from the configuration of the electromagnetic switching means 29 to the configuration of an electromagnetic proportional control valve.
  • a finer pressure setting is possible.
  • step S31 it is determined whether or not the absolute position of the spool in the swing control valve 34 decreases by a certain value or more. That is, whether the absolute value of the output difference between the pressure sensor 31 that detects the output pressure of the operation lever 18a and the pressure sensor that detects the output pressure of the operation lever 18a in the opposite direction (not shown) has decreased by a certain value or more. Whether or not is determined by lever return determination means 42 and lever return determination means 43 provided in the controller 7. That is, it is determined whether or not the operation lever 18a has performed a quick return operation or a turn-back operation.
  • step S31 when it is determined that the absolute position of the spool in the swing control valve spool 34 has decreased by a certain value or more, the process proceeds to step S32. Proceed to S33.
  • step S32 the control lever 18a determines that a rapid return operation or a return operation has been performed, and the cutoff amount (when the discharge flow rate discharged from the relief valve is subtracted when the turning cutoff of the present invention is performed) And the relief pressure of the two-stage swing relief valve 14 is set to the first relief pressure Lo on the low pressure side.
  • step S32 the degree of deceleration of the rotation of the upper swing body 5 can be slowed, the occurrence of a deceleration shock can be prevented, and the life of the swing hydraulic motor 12a can be extended.
  • step S33 it is determined whether or not the operating lever 18a is operated leftward.
  • the process proceeds to step S41, and when it is determined that the operation lever 18a is not operated leftward, the process proceeds to step S34.
  • FIG. 5 shows only the pressure sensor 31 that detects the PPC pressure acting on one end of the spool in the swing control valve 34, but detects the PPC pressure acting on the other end of the spool in the swing control valve 34.
  • An unillustrated pressure sensor is provided, and it is possible to determine in which direction the operation lever 18a is operated by these two pressure sensors.
  • step S34 it is determined whether or not the operation lever 18a is operated rightward.
  • step S34 it is determined whether or not the operation lever 18a is operated in the right direction.
  • step S36 the process proceeds to step S36, and when it is determined that the operation lever 18a is not operated in the right direction, the process proceeds to step S35.
  • step S35 it is determined that the operation lever 18a is currently in the neutral position, and the switchback flag is reset. At this time, the cutoff amount is maintained at zero, and the relief pressure of the two-stage swing relief valve 14 is maintained at the first relief pressure Lo on the low pressure side.
  • step S35 ends, the process returns to step S31, and the process starting from step S31 is repeated.
  • step S36 the elapsed time determination means 50 provided in the correction means 37 determines whether or not the operation direction of the operation lever 18a before the predetermined time is the left direction opposite to the current operation direction.
  • step S36 when it is determined that the operation direction of the operation lever 18a before the predetermined time is opposite to the current operation direction, the process proceeds to step S37, where it is determined that the operation direction is not opposite to the current operation direction. If so, the process proceeds to step S38.
  • step S37 it is determined that the operation lever 18a is in the return state, and a return flag is set. At this time, the cutoff amount is maintained at zero, and the relief pressure of the two-stage swing relief valve 14 is maintained at the first relief pressure Lo on the low pressure side.
  • the process in step S37 ends the process returns to step S31, and the process starting from step S31 is repeated.
  • step S38 it is determined whether or not the switching flag is set. If it is determined in step S38 that the return flag is set, the process proceeds to step S39. If it is determined that the return flag is not set, the process proceeds to step S46.
  • step S39 the operation lever 18 determines that the current turn-back state is continuing. At this time, the cutoff amount is maintained at zero, and the relief pressure of the two-stage swing relief valve 14 is maintained at the first relief pressure Lo on the low pressure side.
  • step S39 ends, the process returns to step S31, and the process starting from step S31 is repeated.
  • step S46 normal swing cut-off control and control for switching the set pressure of the two-stage swing relief valve 14 are executed. Then, returning to step S31, the process starting from step S31 is repeated.
  • step S41 it is determined whether or not the operation direction of the operation lever 18a before a certain time is the right direction opposite to the current operation direction.
  • step S41 when it is determined that the operation direction of the operation lever 18a before the predetermined time is opposite to the current operation direction, the process proceeds to step S42, and it is determined that the operation direction is not opposite to the current operation direction. If so, the process proceeds to step S43.
  • step S42 it is determined that the operation lever 18a is in the return state, and a return flag is set. At this time, the cutoff amount is maintained at zero, and the relief pressure of the two-stage swing relief valve 14 is maintained at the first relief pressure Lo on the low pressure side.
  • the process in step S42 ends, the process returns to step S31, and the process starting from step S31 is repeated.
  • step S43 it is determined whether or not the switching flag is set. If it is determined in step S43 that the return flag is set, the process proceeds to step S44. If it is determined that the return flag is not set, the process proceeds to step S45.
  • step S44 the operation lever 18 determines that the current switching state is continuing. At this time, the cutoff amount is maintained at zero, and the relief pressure of the two-stage swing relief valve 14 is maintained at the first relief pressure state on the low pressure side.
  • step S44 ends, the process returns to step S31, and the process starting from step S31 is repeated.
  • step S45 normal swing cut-off control and control for switching the set pressure of the two-stage swing relief valve 14 are executed. Then, returning to step S31, the process starting from step S31 is repeated.
  • the response characteristic of the target pump capacity in the direction of decreasing the pump capacity is delayed after a predetermined time has elapsed from the start of the cutoff.
  • the pump capacity D of the hydraulic pump is controlled based on the changing target pump capacity D ′
  • the pump capacity D of the controlled hydraulic pump is further increased by the changing target pump capacity D ′.
  • the pump discharge pressure P fluctuates more greatly, and it becomes impossible to perform cut-off while suppressing the discharge flow rate relieved from the two-stage swing relief valve 14.
  • the target pump capacity D ' is output with a delayed response characteristic.
  • Control for outputting the target pump capacity D ′ having a delayed response characteristic or outputting the target pump capacity D ′ having not delayed the response characteristic is performed by a response characteristic setting unit 51 provided in the correction unit 37.
  • FIGS. 18 and 19 a case where the target pump capacity D ′ is output with a delayed response characteristic and a case where a response characteristic is not delayed will be described.
  • the graphs shown above show the time change of the pump discharge pressure P, and the graphs below show the time change of the oblique angle of the hydraulic pump when the turning cutoff is performed. Yes.
  • FIG. 19 shows a case where the response characteristic is delayed only for a target pump displacement signal that increases the pump displacement D of the hydraulic pump for a certain period of time after the start of cutoff.
  • FIG. 19 shows a state in which the response characteristic is delayed with respect to a target pump capacity signal for increasing or decreasing the pump capacity after a lapse of a fixed time after the start of the cutoff.
  • the swash plate angle controlled based on the signal of the target pump capacity also changes the pump discharge pressure P.
  • the fluctuation is performed in the opposite phase, and the fluctuation is enlarged as time passes.
  • the response characteristic of the target pump capacity is delayed with respect to the fluctuation of the pump discharge pressure P
  • the fluctuation of the pump discharge pressure P can be absorbed.
  • the change of the can also be changed to a smooth change.
  • the response characteristic is delayed for a target pump capacity signal that decreases the pump capacity D of the hydraulic pump for a certain time after the start of the swing cut-off. Immediately after the start of the cut-off, a situation occurs where the cut-off amount is insufficient. That is, in the region indicated by a certain time in FIG. 19, the swash plate 20a of the pump 20 is controlled as indicated by the solid line, and the pump capacity D of the hydraulic pump is likely to increase, and the discharge from the hydraulic pump The flow rate is excessive.
  • the correction response characteristic is not delayed with respect to the signal of the target pump capacity D ′ in the direction of decreasing the swash plate of the hydraulic pump for a certain time after the start of the turning cut-off.
  • control as indicated by a dotted line can be performed on the swash plate 20a of the pump 20, and delay of the cut-off control can be prevented, so that the cut-off amount can be prevented from being insufficient.
  • the target pump capacity D ′ fluctuates by delaying the response characteristics with respect to the target pump capacity D ′ signal that increases or decreases the pump capacity of the pump 20.
  • the pump capacity of the pump 20 can be controlled in a state in which is removed. Thereby, the pump capacity of the pump 20 does not fluctuate greatly.
  • the present invention it is possible to prevent pressure fluctuations associated with the turning cut-off, and to suppress fluctuations in pump discharge pressure. Moreover, since the cutoff control can be prevented from being delayed with respect to the increase in the pump discharge pressure P, the relief discharge flow rate can be suppressed.
  • FIG. 20 shows again the relationship between the pump discharge pressure P and the correction ratio E and the relationship between the relief pressure of the two-stage swing relief valve 14 shown in FIG. 8 and the pump discharge pressure P.
  • FIGS. 8 and 9 show the case where the first set value Pa is a fixed value. However, when the value of the first set value Pa is fixed, the pump discharge pressure P is increased rapidly. Even if the correction means 37 corrects the target pump capacity D ′ using the correction ratio E, the corrected target pump capacity D ′ cannot keep up with the change in the pump discharge pressure P, and the pump capacity D of the hydraulic pump As a result, control is performed in a state where a delay has occurred.
  • the low pressure side first relief pressure Lo is switched to the high pressure side second relief pressure Hi and the state is maintained. It will be.
  • the pump discharge pressure P falls below the fourth set value Pd the relief pressure of the two-stage swing relief valve 14 is changed from the second relief pressure Hi on the high pressure side to the first relief pressure Lo on the low pressure side. The state is switched and maintained.
  • the third set value Pc is set to a value smaller than the minimum value (Pmin ′) of the first set value Pa, the pump discharge pressure P is rapidly increased, and the first set value is set. Even when Pa is changed to the minimum value (Pmin ′) side, the relationship of the third set value Pc ⁇ the first set pressure Pa is maintained.
  • the fourth set value Pd is also set to a value smaller than the minimum value of the second set value Pb, the relationship of the fourth set value Pd ⁇ the second set value Pb is maintained.
  • the fourth set value Pd can be reset according to the second set value Pb so that the fourth set value Pd ⁇ the second set value Pb. For this reason, since the set pressure of the two-stage swing relief valve 14 is not switched during the swing cut-off control, stable swing drive control can be performed.
  • the first set value Pa can be controlled to be small.
  • the graph G3 shows the pump discharge.
  • the first set value Pa can be shifted to the Pmin ′ side and configured as shown in the graph G4.
  • the value of the correction ratio E in FIG. 20 changes in the direction of decreasing from the ratio of “1”, which is 100%, toward Emin when the pump discharge pressure P is increasing, and finally.
  • the state of Emin is maintained.
  • the Emin ratio changes in a direction increasing toward “1”, which is 100%, and finally the “1” state is maintained. It will be.
  • the turning cut-off can be performed by controlling the pump capacity of the hydraulic pump without causing a time delay.
  • the second set value Pb is configured to shift to the Pmin side.
  • the second set value Pb when the second set value Pb is fixed as a graph G2, when the deceleration speed is high, the second set value Pb is shifted to the Pmin ′ side and configured as shown in the graph G1. You can also keep it. That is, if the decrease rate of the pump discharge pressure P is increased, the correction ratio can be quickly returned to the state of “1”, and can be quickly returned to the state where the turning cutoff is not performed.
  • the first set value Pa or the second set value Pb is expressed as the pump discharge.
  • the pump discharge pressure P (t at 0.1 seconds before the value of the pump discharge pressure P (t) at the current time point.
  • Minus ⁇ t that is, when the time difference ⁇ P of the pump discharge pressure P exceeds a preset threshold value when the pump discharge pressure P increases, or when the pump discharge pressure P decreases.
  • the first set value Pa or the second set value Pb can be shifted to the Pmin ′ side or the Pmin side.
  • the first set value Pa or the second set value Pb is set according to the time difference ⁇ P.
  • the faster the pump discharge pressure p is increased ( the larger ⁇ P is), the smaller the first set value Pa is. Even at the same pump discharge pressure P, the first set value Pa is fixed. It is possible to cut off more than the case (relief flow rate is reduced).
  • FIG. 21 shows how the pump discharge flow rate Q changes with time when the first set value Pa is shifted to the Pmin ′ side according to the increase / decrease speed of the pump discharge pressure P and when it is not transferred. ing.
  • the solid line indicates the time variation of the pump discharge pressure P, and the alternate long and short dash line indicates the time variation of the pump discharge flow rate Qa when the turning cutoff is not performed.
  • the thick dotted line shows the time change of the pump discharge flow rate Qb when the first set value Pa is a fixed value, and the thick line shows the first set value Pa according to the increasing / decreasing speed of the pump discharge pressure P.
  • the time change of the pump discharge flow rate Qc is shown when it is shifted to the Pmin ′ side.
  • a two-dot chain line indicates a change with time of the ideal pump discharge flow rate Qd.
  • the first set value Pa when the first set value Pa is shifted to the Pmin ′ side in accordance with the increase / decrease speed of the pump discharge pressure P, it approaches the ideal pump discharge flow rate Qd as compared with the case where the first set value Pa is not shifted. be able to.
  • the timing for starting the turning cutoff can be advanced.
  • the value of the correction ratio E can be reduced.
  • the region surrounded by the pump discharge flow rate Qb and the pump discharge flow rate Qd is shifted to the Pmin ′ side according to the increase / decrease speed of the pump discharge pressure P, as shown by hatching.
  • the cut-off amount can be increased as compared with the case where the transition is not performed.
  • the turning cut-off can be started without delay, and the fuel efficiency reduction efficiency can be increased without changing the operability with respect to the upper turning body 5.
  • a hydraulic excavator has been described as an example.
  • the present invention is not limited to a hydraulic excavator, and can be applied to a construction machine having a swivel body, for example, a crawler hydraulic pressure.
  • the present invention can be suitably applied to excavators, wheel-type hydraulic excavators, crane vehicles, and the like.
  • the present invention can be suitably applied to a construction machine having a revolving structure, for example, a crawler hydraulic excavator, a wheel hydraulic excavator, a crane vehicle, and the like.

Abstract

La présente invention concerne un système de commande d’entraînement rotatif pour machine de construction. Le débit d’huile déversée d’une soupape de décharge de rotation est commandé selon des conditions d’entraînement d’un corps rotatif supérieur. Un système de commande d’entraînement rotatif pour une machine de construction est pourvu d’une pompe hydraulique à cylindrée variable qui est entraînée par un moteur et qui fournit de l’huile sous pression à des actionneurs hydrauliques, d’un moyen de détection de pression destiné à détecter la pression de refoulement de la pompe hydraulique, de soupapes de commande destinées à commander l’alimentation en et le déversement de l’huile sous pression, refoulée de la pompe hydraulique, jusqu’aux et à partir des actionneurs hydrauliques, un dispositif de commande destiné à commander la capacité de la pompe hydraulique, un moteur hydraulique qui est construit en tant qu’un des actionneurs hydrauliques et qui entraîne en rotation un corps rotatif supérieur du véhicule de travail, une soupape de décharge de rotation destinée à régler une pression de décharge du moteur hydraulique, et un levier de commande pour exécuter une opération de commutation d’une soupape de commande de moteur hydraulique construite en tant qu’une des soupapes de commande. Le dispositif de commande est pourvu d’un moyen de correction qui, lorsque la pression de refoulement de pompe détectée par le moyen de détection de pression dépasse une première valeur prédéterminée alors que le levier de commande est actionné, réduit la capacité de la pompe selon la pression de refoulement de pompe, et également d’un moyen d’annulation qui, lorsque la pression de refoulement de pompe détectée par le moyen de détection de pression est au-dessous d’une seconde valeur prédéterminée, annule la correction par le moyen de correction. La seconde valeur prédéterminée est supérieure ou égale à la première valeur prédéterminée.
PCT/JP2009/056528 2008-03-31 2009-03-30 Système de commande d’entraînement rotatif pour machine de construction WO2009123134A1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
DE112009000713.9T DE112009000713B4 (de) 2008-03-31 2009-03-30 Regelsystem für Schwenkantriebe von Baumaschinen
US12/935,641 US9022749B2 (en) 2008-03-31 2009-03-30 Swing drive controlling system for construction machine
KR1020107022080A KR101189632B1 (ko) 2008-03-31 2009-03-30 건설 기계의 선회 구동 제어 시스템
CN200980111681.6A CN101981325B (zh) 2008-03-31 2009-03-30 建筑机械的旋转驱动控制系统
JP2010505908A JP5130353B2 (ja) 2008-03-31 2009-03-30 建設機械の旋回駆動制御システム

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JP2008-092578 2008-03-31
JP2008092578 2008-03-31

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JP (1) JP5130353B2 (fr)
KR (1) KR101189632B1 (fr)
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JP2018112304A (ja) * 2017-03-13 2018-07-19 川崎重工業株式会社 建設機械の油圧駆動システム
WO2022202898A1 (fr) * 2021-03-26 2022-09-29 住友重機械工業株式会社 Excavatrice
JP7392819B2 (ja) 2019-02-05 2023-12-06 コベルコ建機株式会社 作業機械の旋回駆動装置

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JP7085058B2 (ja) * 2019-03-22 2022-06-15 Ｋｙｂ株式会社 ポンプ容量制御装置
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JP2013224724A (ja) * 2012-04-23 2013-10-31 Sumitomo (Shi) Construction Machinery Co Ltd 建設機械の油圧制御装置及びその制御方法
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CN101981325B (zh) 2013-11-06
CN101981325A (zh) 2011-02-23
US9022749B2 (en) 2015-05-05
JPWO2009123134A1 (ja) 2011-07-28
KR101189632B1 (ko) 2012-10-11
JP5130353B2 (ja) 2013-01-30
DE112009000713B4 (de) 2016-10-06
KR20100119585A (ko) 2010-11-09
US20110020146A1 (en) 2011-01-27

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